feat: let Gazebo spawn MKMini

src/nav2_turtlebot_simulator/launch/simulator.launch.py

@@ -5,7 +5,7 @@ import xml.etree.ElementTree as ET
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction, SetEnvironmentVariable
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
@@ -233,6 +233,7 @@ def launch_gazebo(context):
     gazebo_ros_dir = get_package_share_directory('gazebo_ros')
     world = LaunchConfiguration('world').perform(context)
     render_mode = LaunchConfiguration('render_mode').perform(context).strip().lower()
+    platform = LaunchConfiguration('platform').perform(context).strip().lower()
 
     if render_mode not in {'flat', 'full'}:
         raise RuntimeError('render_mode must be either flat or full')
@@ -247,7 +248,47 @@ def launch_gazebo(context):
             'worlds',
             world,
         )
+
+    if platform in {'turtlebot3', 'turtlebot3_burger', 'burger'}:
+        entity_name = 'turtlebot3_burger_3d_lidar'
+        model_path = os.path.join(gazebo_dir, 'models', 'turtlebot3_burger', 'model.sdf')
+        model_directory = os.path.join(gazebo_dir, 'models')
+        static_transforms = [
+            Node(
+                package='tf2_ros',
+                executable='static_transform_publisher',
+                name='turtlebot3_base_link_tf',
+                arguments=[
+                    '--x', '0', '--y', '0', '--z', '0.01',
+                    '--roll', '0', '--pitch', '0', '--yaw', '0',
+                    '--frame-id', 'base_footprint', '--child-frame-id', 'base_link',
+                ],
+            ),
+            Node(
+                package='tf2_ros',
+                executable='static_transform_publisher',
+                name='turtlebot3_laser_tf',
+                arguments=[
+                    '--x', '-0.032', '--y', '0', '--z', '0.171',
+                    '--roll', '0', '--pitch', '0', '--yaw', '0',
+                    '--frame-id', 'base_link', '--child-frame-id', 'base_scan',
+                ],
+            ),
+        ]
+    elif platform in {'mkmini', 'mk-mini'}:
+        entity_name = 'mkmini_gazebo'
+        model_directory = os.path.join(simulator_dir, 'models')
+        model_path = os.path.join(model_directory, 'mkmini_gazebo', 'model.sdf')
+        static_transforms = []
+    else:
+        raise RuntimeError('platform must be turtlebot3 or mkmini')
+
+    existing_model_path = os.environ.get('GAZEBO_MODEL_PATH', '')
     return [
+        SetEnvironmentVariable(
+            name='GAZEBO_MODEL_PATH',
+            value=os.pathsep.join(part for part in (model_directory, existing_model_path) if part),
+        ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzserver.launch.py')),
             launch_arguments={
@@ -259,14 +300,15 @@ def launch_gazebo(context):
             package='gazebo_ros',
             executable='spawn_entity.py',
             arguments=[
-                '-entity', 'turtlebot3_burger_3d_lidar',
-                '-file', os.path.join(gazebo_dir, 'models', 'turtlebot3_burger', 'model.sdf'),
+                '-entity', entity_name,
+                '-file', model_path,
                 '-x', LaunchConfiguration('x_pose').perform(context),
                 '-y', LaunchConfiguration('y_pose').perform(context),
                 '-z', '0.01',
             ],
             output='screen',
         ),
+        *static_transforms,
     ]
 
 
@@ -276,29 +318,10 @@ def generate_launch_description():
         DeclareLaunchArgument('gui', default_value='false'),
         DeclareLaunchArgument('world', default_value='turtlebot3_world.world'),
         DeclareLaunchArgument('render_mode', default_value='flat'),
+        DeclareLaunchArgument('platform', default_value='turtlebot3'),
         DeclareLaunchArgument('x_pose', default_value='-2.0'),
         DeclareLaunchArgument('y_pose', default_value='-0.5'),
         OpaqueFunction(function=launch_gazebo),
-        Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            name='turtlebot3_base_link_tf',
-            arguments=[
-                '--x', '0', '--y', '0', '--z', '0.01',
-                '--roll', '0', '--pitch', '0', '--yaw', '0',
-                '--frame-id', 'base_footprint', '--child-frame-id', 'base_link',
-            ],
-        ),
-        Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            name='turtlebot3_laser_tf',
-            arguments=[
-                '--x', '-0.032', '--y', '0', '--z', '0.171',
-                '--roll', '0', '--pitch', '0', '--yaw', '0',
-                '--frame-id', 'base_link', '--child-frame-id', 'base_scan',
-            ],
-        ),
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')),
             condition=IfCondition(LaunchConfiguration('gui')),